cherrypi::Controller Class Reference

Base class for single-task controllers. More...

#include <controller.h>

Inherits cherrypi::ControllerBase.

Inherited by cherrypi::BuilderControllerBase.

Public Member Functions
	Controller (Module *module)
virtual	~Controller ()=default
virtual bool	didSucceed () const
	Implement this to return whether your custom Controller did succeed in its mission (if applicable) and can be disposed. More...
virtual bool	didFail () const
	Implement this to return whether your custom Controller did fail in its mission (if applicable) and can be disposed. More...
void	setUpcId (UpcId id)
	Set the UPC ID of the corresponding task. More...
Public Member Functions inherited from cherrypi::ControllerBase
	ControllerBase (Module *module)
virtual	~ControllerBase ()=default
virtual void	addUnit (State *state, Unit *unit, UpcId id)
	Add a unit to this controller. More...
virtual void	removeUnit (State *state, Unit *unit, UpcId id)
	Remove a unit from this controller. More...
virtual bool	keepUnit (State *state, Unit *unit) const
	Decide whether to keep a unit. More...
virtual void	step (State *state)
	Advance controller state and produce UPCs. More...
bool	isControllingUnitWith (Unit *unit, UpcId id) const
	Checks if the controller is controlling the given unit via the given UPC ID. More...
virtual const char *	getName () const
	A name for this Controller, for debugging purposes. More...

Protected Attributes
UpcId	upcId_
Protected Attributes inherited from cherrypi::ControllerBase
Module *	module_
std::unordered_map< Unit *, UpcId >	units_
std::unordered_map< Unit *, std::pair< UpcId, std::shared_ptr< UPCTuple > > >	upcs_

Additional Inherited Members
Protected Member Functions inherited from cherrypi::ControllerBase
void	postUpcs (State *state)
	Posts scheduled UPCs to the Blackboard. More...
template<typename... Args>
void	addUpc (Unit *unit, Args &&...args)
	Schedules an action (as a UPC) for the given unit which will be posted after doStep(). More...

Detailed Description

Base class for single-task controllers.

This class models a 1:1 relationship with an accompanying Task. Units are added to the controller when the respective task object (ControllerTask) is created.

Controller provides two additional virtual function that can be re-implemented by sub-classes: didSucceed() and didFail(). These will be used by the accompanying Task object to update its status. If your controller returns true for one of these functions, the accompanying Task will end and the controller is free to be disposed of and should not be stepped through any more.

A typical Module::step() function with Controller objects might look similar to this:

void MyModule::step(State* state) {
  // For the current relevant UPCs on the Blackboard
  for (auto& it : relevantUpcs()) {
    auto upcId = it.first;
    auto& upc = it.second;
    board->consumeUPC(upcId, this);

    // Select units from upc.unit
    auto units = sampleUnits(upc);

    // Create a new task with a new controller instance
    auto controller = std::make_shared<MyController>(this);
    auto task = std::make_shared<ControllerTask>(upcId, units, controller);
    board->postTask(task, this, true);
  }

  // Update active controllers
  for (auto& task : state->board()->tasksOfModule(this)) {
    auto ctask = std::static_pointer_cast<ControllerTask>(task);
    auto controller = ctask->controller();
    controller->step(state);
  }
}

Constructor & Destructor Documentation

cherrypi::Controller::Controller

(

Module *

module

)

virtual cherrypi::Controller::~Controller ( )

virtualdefault

Member Function Documentation

bool cherrypi::Controller::didFail ( ) const

virtual

Implement this to return whether your custom Controller did fail in its mission (if applicable) and can be disposed.

By default, a Controller fails if it does not control any units.

Reimplemented in cherrypi::BuilderControllerBase.

virtual bool cherrypi::Controller::didSucceed ( ) const

inlinevirtual

Implement this to return whether your custom Controller did succeed in its mission (if applicable) and can be disposed.

By default, this returns false.

Reimplemented in cherrypi::BuilderControllerBase.

void cherrypi::Controller::setUpcId

(

UpcId

id

)

Set the UPC ID of the corresponding task.

Member Data Documentation

UpcId cherrypi::Controller::upcId_

protected

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The documentation for this class was generated from the following files:

• src/controller.h
• src/controller.cpp